fishmarch/sp-slam

Point-Plane SLAM Using Supposed Planes for Indoor Environments

sp-slam's Issues

编译时文件缺失

/SP-SLAM-master/Thirdparty/g2o/g2o/types/../core/openmp_mutex.h:30:10: fatal error: ../../config.h: No such file or directory
#include "../../config.h"
^~~~~~~~~~~~~~~~

为什么要这样设置信息矩阵

为什么你是这样设置信息矩阵的

Some problems about Surfels.h

Surfel exp_update(const Eigen::Matrix<double, 6, 1> &update);   
Vector6d surfel_log_error(const Surfel &newone);
Vector6d surfel_plane_error(const Surfel &newone); 

These are three functions' declaration in Surfels.h.
But i cannot find the definition of these three functions in Surfels.cc.

关于程序运行

您好，编译后使用TUM数据集测试时，报错如下：

terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
已放弃 (核心已转储)

是我的编译有错误还是代码某处需要修改

fatal error: Config.h: 没有那个文件或目录 #include "Config.h"

cmakelists中已经添加了include为include目录了，但是就是找不到config.h头文件

About some parameters

There are some parameters in the 'optimizer.cc' file that I don't know why set them like that.

  double angleInfo = Config::Get<double>("Plane.AngleInfo");
  angleInfo = 3282.8/(angleInfo*angleInfo);
  double disInfo = Config::Get<double>("Plane.DistanceInfo");
  disInfo = disInfo* disInfo;
  double parInfo = Config::Get<double>("Plane.ParallelInfo");
  parInfo = 3282.8/(parInfo*parInfo);
  double verInfo = Config::Get<double>("Plane.VerticalInfo");
  verInfo = 3282.8/(verInfo*verInfo);
  double planeChi = Config::Get<double>("Plane.Chi");
  const float deltaPlane = sqrt(planeChi);
  double VPplaneChi = Config::Get<double>("Plane.VPChi");
  const float VPdeltaPlane = sqrt(VPplaneChi);

I don't know why use 3282.8, 3282.8/(angleInfo*angleInfo), disInfo = disInfo* disInfo,
and all parameters about Plane, like Chi, VPChi,VerticalInfo.

Is there some references which explain them? I have studied about plane recently and it really confused me.
It will be very helpful if I receive your reply. Thanks!

Why can you add multiple vertices in PoseOptimization?

Hello ,In my opinion,there is only one vertices in PoseOptimization,because this function just optimizer pose.But in your code ,it can add a number of vertices? Can you explain it?